Scan mirror systems and methods

ABSTRACT

A system to scan a field of view with light beams can include a scanning mirror arrangement having a mirror and a drive mechanism configured to rotate the mirror about an axis between two terminal positions; at least one light source configured to simultaneously produce at least a first light beam and a second light beam directed at the mirror from different directions. Upon rotation of the mirror, the first and second light beams can scan a field of view. The scanning mirror arrangement may include a mirror; hinges attached at opposite sides of the mirror; and a drive mechanism attached to the hinges and configured to twist the hinges resulting in a larger twist to the mirror, wherein the hinges are disposed between the drive mechanism and the mirror.

CROSS-REFERENCE TO RELATED APPLICATIONS

This Utility patent application is a Continuation of U.S. patentapplication Ser. No. 16/679,110 filed on Nov. 8, 2019, now U.S. Pat. No.11,067,794 issued on Jul. 20, 2021, which is a Divisional of U.S. patentapplication Ser. No. 15/976,269 filed on May 10, 2018, now U.S. Pat. No.10,473,921 issued on Nov. 12, 2019, which is based on previously filedU.S. Provisional Patent Application Ser. No. 62/602,937 filed on May 10,2017, the benefit of the filing date of which is hereby claimed under 35U.S.C. § 119(e) and § 120 and the contents of which are each furtherincorporated in entirety by reference.

TECHNICAL FIELD

The present invention relates generally to scanning mirror systems andarrangements and to methods of making and using the scanning mirrorsystems and arrangements. The present invention is also directed tosystems and methods for scanning a field of view with light beams ordetermining a position of objects within a field of view.

BACKGROUND

Scanning mirrors can be used in a variety of applications. There areseveral mirror design parameters that can be challenging to manage oroptimize. A high line resonance frequency keeps the resonant mirrorsmall and with a relative low resonant mass. A wide scan field (for awide field of view (FoV)) is often desirable, but due to the inherentdynamics of a conventional resonant MEMS mirror design, this typicallyresults in slower scan speeds. A mirror surface with high qualityoptical characteristics is desirable for achieving good beam quality.Uniform illumination scan coverage is desirable in many systems. Thesefour design parameters are often in starkly opposite directions, and inmany conventional designs, significant trade-offs are made between thedesign parameters which may limit system performance parameters such aresolution, range, and voxel acquisition rate.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows an embodiment of an exemplary environment in which variousembodiments of the invention may be implemented;

FIG. 2 illustrates an embodiment of an exemplary mobile computer thatmay be included in a system such as that shown in FIG. 1;

FIG. 3 shows an embodiment of an exemplary network computer that may beincluded in a system such as that shown in FIG. 1;

FIG. 4A illustrates an embodiment of a scanning mirror arrangement orsystem;

FIG. 4B illustrates rotation of the mirror of the scanning mirrorarrangement or system of FIG. 4A;

FIG. 4C illustrates a sinusoidal operation of the scanning mirrorarrangement or system of FIG. 4A;

FIG. 4D illustrates a phase rotation diagram of the scanning mirrorarrangement or system of FIG. 4A;

FIG. 5 illustrates an embodiment of a scanning mirror arrangement orsystem with illumination of the mirror by two light beams (which areonly illustrated after reflection from the mirror) at differentrotational positions of the mirror (a) 0°, (b) +5°, and (c) −5°;

FIG. 6 illustrates an embodiment of a scanning mirror arrangement orsystem with illumination of the mirror by two light beams at differentrotational positions of the mirror (a) +10° and (b) −10°;

FIG. 7A illustrates an embodiment of a scanning mirror arrangement orsystem with illumination of the mirror by three light beams (which areonly illustrated prior to reflection by the mirror);

FIG. 7B illustrates an embodiment of a scanning mirror arrangement orsystem with illumination of the mirror by four light beams (which areonly illustrated prior to reflection by the mirror);

FIG. 8 illustrates an embodiment of a system for determining a positionof an object using the scanning mirror system or arrangement of FIG. 7B;

FIG. 9A illustrates an embodiment of a scanning mirror arrangement orsystem with a driving mechanism disposed between a mirror and hinges;

FIG. 9B illustrates an embodiment of a scanning mirror arrangement orsystem with hinges disposed between a mirror and a driving mechanism;

FIG. 10 is a flowchart of an embodiment of a method of scanning a fieldof view;

FIG. 11 is a flowchart of an embodiment of a method of determining aposition of an object in a field of view;

FIGS. 12A to 12B illustrate an embodiment of a scanning mirrorarrangement or system with illumination of the mirror by two light beamsat different rotational positions of the mirror (12A) +10° and (12B)−10° with diffuse reflection of the light;

FIGS. 13A to 13C illustrate an embodiment of a device with a singlescanning headlight during different modes of operation; and

FIGS. 14A to 14C illustrate an embodiment of a vehicle with a dual headlight assembly during different modes of operation.

DETAILED DESCRIPTION OF THE INVENTION

Various embodiments now will be described more fully hereinafter withreference to the accompanying drawings, which form a part hereof, andwhich show, by way of illustration, specific embodiments by which theinvention may be practiced. The embodiments may, however, be embodied inmany different forms and should not be construed as limited to theembodiments set forth herein; rather, these embodiments are provided sothat this disclosure will be thorough and complete, and will fullyconvey the scope of the embodiments to those skilled in the art. Amongother things, the various embodiments may be methods, systems, media, ordevices. Accordingly, the various embodiments may take the form of anentirely hardware embodiment, an entirely software embodiment, or anembodiment combining software and hardware aspects. The followingdetailed description is, therefore, not to be taken in a limiting sense.

Throughout the specification and claims, the following terms take themeanings explicitly associated herein, unless the context clearlydictates otherwise. The phrase “in one embodiment” as used herein doesnot necessarily refer to the same embodiment, though it may.Furthermore, the phrase “in another embodiment” as used herein does notnecessarily refer to a different embodiment, although it may. Thus, asdescribed below, various embodiments of the invention may be readilycombined, without departing from the scope or spirit of the invention.

In addition, as used herein, the term “or” is an inclusive “or”operator, and is equivalent to the term “and/or,” unless the contextclearly dictates otherwise. The term “based on” is not exclusive andallows for being based on additional factors not described, unless thecontext clearly dictates otherwise. In addition, throughout thespecification, the meaning of “a,” “an,” and “the” include pluralreferences. The meaning of “in” includes “in” and “on.”

As used herein, the terms “photon beam,” “light beam,” “electromagneticbeam,” “image beam,” or “beam” refer to a somewhat localized (in timeand space) beam or bundle of photons or electromagnetic (EM) waves ofvarious frequencies or wavelengths within the EM spectrum. An outgoinglight beam is a beam that is transmitted by various ones of the variousembodiments disclosed herein. An incoming light beam is a beam that isdetected by various ones of the various embodiments disclosed herein.

As used herein, the terms “light source,” “photon source,” or “source”refer to various devices that are capable of emitting, providing,transmitting, or generating one or more photons or EM waves of one ormore wavelengths or frequencies within the EM spectrum. A light orphoton source may transmit one or more outgoing light beams. A photonsource may be a laser, a light emitting diode (LED), an organic lightemitting diode (OLED), a light bulb, or the like. A photon source maygenerate photons via stimulated emissions of atoms or molecules, anincandescent process, or various other mechanism that generates an EMwave or one or more photons. A photon source may provide continuous orpulsed outgoing light beams of a predetermined frequency, or range offrequencies. The outgoing light beams may be coherent light beams. Thephotons emitted by a light source may be of various wavelengths orfrequencies.

As used herein, the terms “receiver,” “photon receiver,” “photondetector,” “light detector,” “detector,” “photon sensor,” “lightsensor,” or “sensor” refer to various devices that are sensitive to thepresence of one or more photons of one or more wavelengths orfrequencies of the EM spectrum. A photon detector may include an arrayof photon detectors, such as an arrangement of a plurality of photondetecting or sensing pixels. One or more of the pixels may be aphotosensor that is sensitive to the absorption of one or more photons.A photon detector may generate a signal in response to the absorption ofone or more photons. A photon detector may include a one-dimensional(1D) array of pixels. However, in other embodiments, photon detector mayinclude at least a two-dimensional (2D) array of pixels. The pixels mayinclude various photon-sensitive technologies, such as one or more ofactive-pixel sensors (APS), charge-coupled devices (CCDs), Single PhotonAvalanche Detector (SPAD) (operated in avalanche mode or Geiger mode),complementary metal-oxide-semiconductor (CMOS) devices, siliconphotomultipliers (SiPM), photovoltaic cells, phototransistors, twitchypixels, or the like. A photon detector may detect one or more incominglight beams.

As used herein, the term “target” is one or more various 2D or 3D bodiesthat reflect or scatter at least a portion of incident light, EM waves,or photons. The target may also be referred to as an “object.” Forinstance, a target or object may scatter or reflect an outgoing lightbeam that is transmitted by various ones of the various embodimentsdisclosed herein. In the various embodiments described herein, one ormore light sources may be in relative motion to one or more of receiversand/or one or more targets or objects. Similarly, one or more receiversmay be in relative motion to one or more of light sources and/or one ormore targets or objects. One or more targets or objects may be inrelative motion to one or more of light sources and/or one or morereceivers.

The following briefly describes embodiments of the invention in order toprovide a basic understanding of some aspects of the invention. Thisbrief description is not intended as an extensive overview. It is notintended to identify key or critical elements, or to delineate orotherwise narrow the scope. Its purpose is merely to present someconcepts in a simplified form as a prelude to the more detaileddescription that is presented later.

Briefly stated, various embodiments are directed to a scanning mirrorarrangement to scan a field of view with light beams. The arrangementcan include a scanning mirror arrangement having a mirror and a drivemechanism configured to rotate the mirror about an axis between twoterminal positions; at least one light source configured tosimultaneously produce at least a first light beam and a second lightbeam directed at the mirror from different directions. Upon rotation ofthe mirror, the first and second light beams can scan a field of view.

Another example of a scanning mirror arrangement includes a mirror;hinges attached at opposite sides of the mirror; and a drive mechanismattached to the hinges and configured to twist the hinges resulting in alarger twist to the mirror, wherein the hinges are disposed between thedrive mechanism and the mirror.

Illustrated Operating Environment

FIG. 1 shows exemplary components of one embodiment of an exemplaryenvironment in which various exemplary embodiments of the invention maybe practiced. Not all of the components may be required to practice theinvention, and variations in the arrangement and type of the componentsmay be made without departing from the spirit or scope of the invention.

A scanning mirror 105 can rotate or otherwise move to scan lightreceived from a light source over a field of view. The scanning mirror105 may be any suitable scanning mirror including, but not limited to, aMEMS scanning mirror, acousto-optical, electro-optical scanning mirrors,or fast phased arrays, such as 1D ribbon MEMS arrays or Optical PhasedArrays (OPA). Scanning mirror 105 may also include an optical systemthat includes optical components to direct or focus the incoming oroutgoing light beams. The optical systems may aim and shape the spatialand temporal beam profiles of incoming or outgoing light beams. Theoptical system may collimate, fan-out, or otherwise manipulate theincoming or outgoing light beams. Scanning mirror 105 may includevarious ones of the features, components, or functionality of a computerdevice, including but not limited to mobile computer 200 of FIG. 2and/or network computer 300 of FIG. 3.

FIG. 1 illustrates one embodiment of a system 100 that includes thescanning mirror 105. It will be understood that the scanning mirror canbe used in a variety of other systems including, but not limited to,scanning laser vision, motion tracking LIDAR, illumination, and imagingtype display systems for AR and VR, such as described in U.S. Pat. Nos.8,282,222; 8,430,512, 8,573,783; 8,696141; 8,711,370 8,971,568; 9377553;9,501,175; 9,581,883; 9753,126; 9,810,913; 9,813,673; 9,946,076; U.S.Patent Application Publication Nos. 2013/0300637 and 2016/0041266; U.S.Provisional Patent Application Ser. Nos. 62/498,534; 62/606,879;62/707,194; and 62/709,715 and U.S. patent application Ser. No.15/853,783. Each of these U.S. patents and U.S. patent applicationspublications listed above are herein incorporated by reference in theentirety.

The system 100 of FIG. 1 also includes network 102, one or more lightsources 104, receiver 106, one or more objects or targets 108, and asystem computer device 110. In some embodiments, system 100 may includeone or more other computers, such as but not limited to laptop computer112 and/or mobile computer, such as but not limited to a smartphone ortablet 114. In some embodiments, light source 104 and/or receiver 106may include one or more components included in a computer, such as butnot limited to various ones of computers 110, 112, or 114. The one ormore light sources 104, scanning mirror 105, and receiver 106 can becoupled directly to the computer 110, 112, or 114 by any wireless orwired technique or may be coupled to the computer 110, 112, or 114through a network 102.

System 100, as well as other systems discussed herein, may be asequential-pixel photon projection system. In one or more embodimentsystem 100 is a sequential-pixel laser projection system that includesvisible and/or non-visible photon sources. Various embodiments of suchsystems are described in detail in at least U.S. Pat. Nos. 8,282,222,8,430,512; 8,573,783; 8,696,141; 8,711,370; 9,377,553; 9,753,126;9,946,076; U.S. Patent Application Publication Nos. 2013/0300637 and2016/0041266; U.S. Provisional Patent Application Ser. Nos. 62/498,534and 62/606,879; and U.S. patent application Ser. No. 15/853,783, each ofwhich is herein incorporated by reference in the entirety.

Light sources 104 may include one or more light sources for transmittinglight or photon beams. Examples of suitable light sources includeslasers, laser diodes, light emitting diodes, organic light emittingdiodes, or the like. For instance, light source 104 may include one ormore visible and/or non-visible laser sources. In at least someembodiments, light source 104 includes one or more of a red (R), a green(G), or a blue (B) laser source. In at least some embodiment, lightsource includes one or more non-visible laser sources, such as anear-infrared (NIR) or infrared (IR) laser. A light source may providecontinuous or pulsed light beams of a predetermined frequency, or rangeof frequencies. The provided light beams may be coherent light beams.Light source 104 may include various ones of the features, components,or functionality of a computer device, including but not limited tomobile computer 200 of FIG. 2 and/or network computer 300 of FIG. 3. Inat least some embodiments, there are two or more light beams directed atthe scanning mirror 105. The light beams can be from different lightsources 104, as illustrated in FIG. 1, or from the same light source 104where the beam from the light source has been split into two differentbeams using, for example, a beam splitting arrangement. For example, abeamsplitting arrangement can include a beamsplitter and one or moremirrors or other optical elements to redirect at least one of the lightbeams. As another example, a reflective polarizer can split the beaminto two parts with mirrors or other optical elements to redirect atleast one of the light beams.

Light source 104 may also include an optical system that includesoptical components to direct or focus the transmitted or outgoing lightbeams. The optical systems may aim and shape the spatial and temporalbeam profiles of outgoing light beams. The optical system may collimate,fan-out, or otherwise manipulate the outgoing light beams. At least aportion of the outgoing light beams are aimed at the scanning mirror 105which aims the light beam at the object 108.

Receiver 106 can be any suitable light receiver including, but notlimited to, one or more photon-sensitive, or photon-detecting, arrays ofsensor pixels. An array of sensor pixels detects continuous or pulsedlight beams reflected from target 108. The array of pixels may be a onedimensional-array or a two-dimensional array. The pixels may includeSPAD pixels or other photo-sensitive elements that avalanche upon theillumination one or a few incoming photons. The pixels may haveultra-fast response times in detecting a single or a few photons thatare on the order of a few nanoseconds. The pixels may be sensitive tothe frequencies emitted or transmitted by light source 104 andrelatively insensitive to other frequencies. Receiver 106 also includesan optical system that includes optical components to direct and focusthe received beams, across the array of pixels. Receiver 106 may includevarious ones of the features, components, or functionality of a computerdevice, including but not limited to mobile computer 200 of FIG. 2and/or network computer 300 of FIG. 3.

Various embodiment of computer device 110 are described in more detailbelow in conjunction with FIGS. 2-3 (e.g., computer device 110 may be anembodiment of mobile computer 200 of FIG. 2 and/or network computer 300of FIG. 3). Briefly, however, computer device 110 includes virtuallyvarious computer devices enabled to operate a scanning mirrorarrangement or to perform the various position determination processesand/or methods discussed herein, based on the detection of photonsreflected from one or more surfaces, including but not limited tosurfaces of object or target 108. Based on the detected photons or lightbeams, computer device 110 may alter or otherwise modify one or moreconfigurations of light source 104 and receiver 106. It should beunderstood that the functionality of computer device 110 may beperformed by light source 104, scanning mirror 105, receiver 106, or acombination thereof, without communicating to a separate device.

In some embodiments, at least some of the scanning mirror operation orposition determination functionality may be performed by othercomputers, including but not limited to laptop computer 112 and/or amobile computer, such as but not limited to a smartphone or tablet 114.Various embodiments of such computers are described in more detail belowin conjunction with mobile computer 200 of FIG. 2 and/or networkcomputer 300 of FIG. 3.

Network 102 may be configured to couple network computers with othercomputing devices, including light source 104, photon receiver 106,tracking computer device 110, laptop computer 112, or smartphone/tablet114. Network 102 may include various wired and/or wireless technologiesfor communicating with a remote device, such as, but not limited to, USBcable, Bluetooth®, Wi-Fi®, or the like. In some embodiments, network 102may be a network configured to couple network computers with othercomputing devices. In various embodiments, information communicatedbetween devices may include various kinds of information, including, butnot limited to, processor-readable instructions, remote requests, serverresponses, program modules, applications, raw data, control data, systeminformation (e.g., log files), video data, voice data, image data, textdata, structured/unstructured data, or the like. In some embodiments,this information may be communicated between devices using one or moretechnologies and/or network protocols.

In some embodiments, such a network may include various wired networks,wireless networks, or various combinations thereof. In variousembodiments, network 102 may be enabled to employ various forms ofcommunication technology, topology, computer-readable media, or thelike, for communicating information from one electronic device toanother. For example, network 102 can include—in addition to theInternet—LANs, WANs, Personal Area Networks (PANs), Campus AreaNetworks, Metropolitan Area Networks (MANs), direct communicationconnections (such as through a universal serial bus (USB) port), or thelike, or various combinations thereof.

In various embodiments, communication links within and/or betweennetworks may include, but are not limited to, twisted wire pair, opticalfibers, open air lasers, coaxial cable, plain old telephone service(POTS), wave guides, acoustics, full or fractional dedicated digitallines (such as T1, T2, T3, or T4), E-carriers, Integrated ServicesDigital Networks (ISDNs), Digital Subscriber Lines (DSLs), wirelesslinks (including satellite links), or other links and/or carriermechanisms known to those skilled in the art. Moreover, communicationlinks may further employ various ones of a variety of digital signalingtechnologies, including without limit, for example, DS-0, DS-1, DS-2,DS-3, DS-4, OC-3, OC-12, OC-48, or the like. In some embodiments, arouter (or other intermediate network device) may act as a link betweenvarious networks—including those based on different architectures and/orprotocols—to enable information to be transferred from one network toanother. In other embodiments, remote computers and/or other relatedelectronic devices could be connected to a network via a modem andtemporary telephone link. In essence, network 102 may include variouscommunication technologies by which information may travel betweencomputing devices.

Network 102 may, in some embodiments, include various wireless networks,which may be configured to couple various portable network devices,remote computers, wired networks, other wireless networks, or the like.Wireless networks may include various ones of a variety of sub-networksthat may further overlay stand-alone ad-hoc networks, or the like, toprovide an infrastructure-oriented connection for at least clientcomputer (e.g., laptop computer 112 or smart phone or tablet computer114) (or other mobile devices). Such sub-networks may include meshnetworks, Wireless LAN (WLAN) networks, cellular networks, or the like.In one or more of the various embodiments, the system may include morethan one wireless network.

Network 102 may employ a plurality of wired and/or wirelesscommunication protocols and/or technologies. Examples of variousgenerations (e.g., third (3G), fourth (4G), or fifth (5G)) ofcommunication protocols and/or technologies that may be employed by thenetwork may include, but are not limited to, Global System for Mobilecommunication (GSM), General Packet Radio Services (GPRS), Enhanced DataGSM Environment (EDGE), Code Division Multiple Access (CDMA), WidebandCode Division Multiple Access (W-CDMA), Code Division Multiple Access2000 (CDMA2000), High Speed Downlink Packet Access (HSDPA), Long TermEvolution (LTE), Universal Mobile Telecommunications System (UMTS),Evolution-Data Optimized (Ev-DO), Worldwide Interoperability forMicrowave Access (WiMax), time division multiple access (TDMA),Orthogonal frequency-division multiplexing (OFDM), ultra-wide band(UWB), Wireless Application Protocol (WAP), user datagram protocol(UDP), transmission control protocol/Internet protocol (TCP/IP), variousportions of the Open Systems Interconnection (OSI) model protocols,session initiated protocol/real-time transport protocol (SIP/RTP), shortmessage service (SMS), multimedia messaging service (MMS), or variousones of a variety of other communication protocols and/or technologies.In essence, the network may include communication technologies by whichinformation may travel between light source 104, photon receiver 106,and tracking computer device 110, as well as other computing devices notillustrated.

In various embodiments, at least a portion of network 102 may bearranged as an autonomous system of nodes, links, paths, terminals,gateways, routers, switches, firewalls, load balancers, forwarders,repeaters, optical-electrical converters, or the like, which may beconnected by various communication links. These autonomous systems maybe configured to self-organize based on current operating conditionsand/or rule-based policies, such that the network topology of thenetwork may be modified.

Illustrative Mobile Computer

FIG. 2 shows one embodiment of an exemplary mobile computer 200 that mayinclude many more or less components than those exemplary componentsshown. Mobile computer 200 may represent, for example, one or moreembodiment of laptop computer 112, smartphone/tablet 114, and/orcomputer 110 of system 100 of FIG. 1. Thus, mobile computer 200 mayinclude a mobile device (e.g., a smart phone or tablet), astationary/desktop computer, or the like.

Client computer 200 may include processor 202 in communication withmemory 204 via bus 206. Client computer 200 may also include powersupply 208, network interface 210, processor-readable stationary storagedevice 212, processor-readable removable storage device 214,input/output interface 216, camera(s) 218, video interface 220, touchinterface 222, hardware security module (HSM) 224, projector 226,display 228, keypad 230, illuminator 232, audio interface 234, globalpositioning systems (GPS) transceiver 236, open air gesture interface238, temperature interface 240, haptic interface 242, and pointingdevice interface 244. Client computer 200 may optionally communicatewith a base station (not shown), or directly with another computer. Andin one embodiment, although not shown, a gyroscope may be employedwithin client computer 200 for measuring and/or maintaining anorientation of client computer 200.

Power supply 208 may provide power to client computer 200. Arechargeable or non-rechargeable battery may be used to provide power.The power may also be provided by an external power source, such as anAC adapter or a powered docking cradle that supplements and/or rechargesthe battery.

Network interface 210 includes circuitry for coupling client computer200 to one or more networks, and is constructed for use with one or morecommunication protocols and technologies including, but not limited to,protocols and technologies that implement various portions of the OSImodel for mobile communication (GSM), CDMA, time division multipleaccess (TDMA), UDP, TCP/IP, SMS, MMS, GPRS, WAP, UWB, WiMax, SIP/RTP,GPRS, EDGE, WCDMA, LTE, UMTS, OFDM, CDMA2000, EV-DO, HSDPA, or variousones of a variety of other wireless communication protocols. Networkinterface 210 is sometimes known as a transceiver, transceiving device,or network interface card (MC).

Audio interface 234 may be arranged to produce and receive audio signalssuch as the sound of a human voice. For example, audio interface 234 maybe coupled to a speaker and microphone (not shown) to enabletelecommunication with others and/or generate an audio acknowledgementfor some action. A microphone in audio interface 234 can also be usedfor input to or control of client computer 200, e.g., using voicerecognition, detecting touch based on sound, and the like.

Display 228 may be a liquid crystal display (LCD), gas plasma,electronic ink, light emitting diode (LED), Organic LED (OLED) orvarious other types of light reflective or light transmissive displaysthat can be used with a computer. Display 228 may also include the touchinterface 222 arranged to receive input from an object such as a stylusor a digit from a human hand, and may use resistive, capacitive, surfaceacoustic wave (SAW), infrared, radar, or other technologies to sensetouch and/or gestures.

Projector 226 may be a remote handheld projector or an integratedprojector that is capable of projecting an image on a remote wall orvarious other reflective objects such as a remote screen.

Video interface 220 may be arranged to capture video images, such as astill photo, a video segment, an infrared video, or the like. Forexample, video interface 220 may be coupled to a digital video camera, aweb-camera, or the like. Video interface 220 may comprise a lens, animage sensor, and other electronics. Image sensors may include acomplementary metal-oxide-semiconductor (CMOS) integrated circuit,charge-coupled device (CCD), or various other integrated circuits forsensing light.

Keypad 230 may comprise various input devices arranged to receive inputfrom a user. For example, keypad 230 may include a push button numericdial, or a keyboard. Keypad 230 may also include command buttons thatare associated with selecting and sending images.

Illuminator 232 may provide a status indication and/or provide light.Illuminator 232 may remain active for specific periods of time or inresponse to event messages. For example, if illuminator 232 is active,it may backlight the buttons on keypad 230 and stay on while the clientcomputer is powered. Also, illuminator 232 may backlight these buttonsin various patterns if particular actions are performed, such as dialinganother client computer. Illuminator 232 may also cause light sourcespositioned within a transparent or translucent case of the clientcomputer to illuminate in response to actions.

Further, client computer 200 may also comprise HSM 224 for providingadditional tamper resistant safeguards for generating, storing and/orusing security/cryptographic information such as, keys, digitalcertificates, passwords, passphrases, two-factor authenticationinformation, or the like. In some embodiments, hardware security modulemay be employed to support one or more standard public keyinfrastructures (PKI), and may be employed to generate, manage, and/orstore keys pairs, or the like. In some embodiments, HSM 224 may be astand-alone computer, in other cases, HSM 224 may be arranged as ahardware card that may be added to a client computer.

Client computer 200 may also comprise input/output interface 216 forcommunicating with external peripheral devices or other computers suchas other client computers and network computers. The peripheral devicesmay include an audio headset, virtual reality headsets, display screenglasses, remote speaker system, remote speaker and microphone system,and the like. Input/output interface 216 can utilize one or moretechnologies, such as Universal Serial Bus (USB), Infrared, Wi-Fi™,WiMax, Bluetooth™, and the like.

Input/output interface 216 may also include one or more sensors fordetermining geolocation information (e.g., GPS), monitoring electricalpower conditions (e.g., voltage sensors, current sensors, frequencysensors, and so on), monitoring weather (e.g., thermostats, barometers,anemometers, humidity detectors, precipitation scales, or the like), orthe like. Sensors may be one or more hardware sensors that collectand/or measure data that is external to client computer 200.

Haptic interface 242 may be arranged to provide tactile feedback to auser of the client computer. For example, the haptic interface 242 maybe employed to vibrate client computer 200 in a particular way ifanother user of a computer is calling. Temperature interface 240 may beused to provide a temperature measurement input and/or a temperaturechanging output to a user of client computer 200. Open air gestureinterface 238 may sense physical gestures of a user of client computer200, for example, by using single or stereo video cameras, radar, agyroscopic sensor inside a computer held or worn by the user, or thelike. Camera 218 may be used to track physical eye movements of a userof client computer 200.

GPS transceiver 236 can determine the physical coordinates of clientcomputer 200 on the surface of the Earth, which typically outputs alocation as latitude and longitude values. GPS transceiver 236 can alsoemploy other geo-positioning mechanisms, including, but not limited to,triangulation, assisted GPS (AGPS), Enhanced Observed Time Difference(E-OTD), Cell Identifier (CI), Service Area Identifier (SAI), EnhancedTiming Advance (ETA), Base Station Subsystem (BSS), or the like, tofurther determine the physical location of client computer 200 on thesurface of the Earth. It is understood that under different conditions,GPS transceiver 236 can determine a physical location for clientcomputer 200. In one or more embodiments, however, client computer 200may, through other components, provide other information that may beemployed to determine a physical location of the client computer,including for example, a Media Access Control (MAC) address, IP address,and the like.

Human interface components can be peripheral devices that are physicallyseparate from client computer 200, allowing for remote input and/oroutput to client computer 200. For example, information routed asdescribed here through human interface components such as display 228 orkeypad 230 can instead be routed through network interface 210 toappropriate human interface components located remotely. Examples ofhuman interface peripheral components that may be remote include, butare not limited to, audio devices, pointing devices, keypads, displays,cameras, projectors, and the like. These peripheral components maycommunicate over a Pico Network such as Bluetooth™, Zigbee™ and thelike. One non-limiting example of a client computer with such peripheralhuman interface components is a wearable computer, which might include aremote pico projector along with one or more cameras that remotelycommunicate with a separately located client computer to sense a user'sgestures toward portions of an image projected by the pico projectoronto a reflected surface such as a wall or the user's hand.

Memory 204 may include RAM, ROM, and/or other types of memory. Memory204 illustrates an example of computer-readable storage media (devices)for storage of information such as computer-readable instructions, datastructures, program modules or other data. Memory 204 may store BIOS 246for controlling low-level operation of client computer 200. The memorymay also store operating system 248 for controlling the operation ofclient computer 200. It will be appreciated that this component mayinclude a general-purpose operating system such as a version of UNIX, orLINUX™, or a specialized client computer communication operating systemsuch as Windows Phone™, or the Symbian® operating system. The operatingsystem may include, or interface with a Java virtual machine module thatenables control of hardware components and/or operating systemoperations via Java application programs.

Memory 204 may further include one or more data storage 250, which canbe utilized by client computer 200 to store, among other things,applications 252 and/or other data. For example, data storage 250 mayalso be employed to store information that describes variouscapabilities of client computer 200. In one or more of the variousembodiments, data storage 250 may store position information 251. Theinformation 251 may then be provided to another device or computer basedon various ones of a variety of methods, including being sent as part ofa header during a communication, sent upon request, or the like. Datastorage 250 may also be employed to store social networking informationincluding address books, buddy lists, aliases, user profile information,or the like. Data storage 250 may further include program code, data,algorithms, and the like, for use by a processor, such as processor 202to execute and perform actions. In one embodiment, at least some of datastorage 250 might also be stored on another component of client computer200, including, but not limited to, non-transitory processor-readablestationary storage device 212, processor-readable removable storagedevice 214, or even external to the client computer.

Applications 252 may include computer executable instructions which, ifexecuted by client computer 200, transmit, receive, and/or otherwiseprocess instructions and data. Applications 252 may include, forexample, scanning mirror client engine 253, position determinationclient engine 254, other client engines 256, web browser 258, or thelike. Client computers may be arranged to exchange communications, suchas, queries, searches, messages, notification messages, event messages,alerts, performance metrics, log data, API calls, or the like,combination thereof, with application servers, network file systemapplications, and/or storage management applications.

The web browser engine 226 may be configured to receive and to send webpages, web-based messages, graphics, text, multimedia, and the like. Theclient computer's browser engine 226 may employ virtually variousprogramming languages, including a wireless application protocolmessages (WAP), and the like. In one or more embodiments, the browserengine 258 is enabled to employ Handheld Device Markup Language (HDML),Wireless Markup Language (WML), WMLScript, JavaScript, StandardGeneralized Markup Language (SGML), HyperText Markup Language (HTML),eXtensible Markup Language (XML), HTML5, and the like.

Other examples of application programs include calendars, searchprograms, email client applications, IM applications, SMS applications,Voice Over Internet Protocol (VOIP) applications, contact managers, taskmanagers, transcoders, database programs, word processing programs,security applications, spreadsheet programs, games, search programs, andso forth.

Additionally, in one or more embodiments (not shown in the figures),client computer 200 may include an embedded logic hardware deviceinstead of a CPU, such as, an Application Specific Integrated Circuit(ASIC), Field Programmable Gate Array (FPGA), Programmable Array Logic(PAL), or the like, or combination thereof. The embedded logic hardwaredevice may directly execute its embedded logic to perform actions. Also,in one or more embodiments (not shown in the figures), client computer200 may include a hardware microcontroller instead of a CPU. In one ormore embodiments, the microcontroller may directly execute its ownembedded logic to perform actions and access its own internal memory andits own external Input and Output Interfaces (e.g., hardware pins and/orwireless transceivers) to perform actions, such as System On a Chip(SOC), or the like.

Illustrative Network Computer

FIG. 3 shows one embodiment of an exemplary network computer 300 thatmay be included in an exemplary system implementing one or more of thevarious embodiments. Network computer 300 may include many more or lesscomponents than those shown in FIG. 3. However, the components shown aresufficient to disclose an illustrative embodiment for practicing theseinnovations. Network computer 300 may include a desktop computer, alaptop computer, a server computer, a client computer, and the like.Network computer 300 may represent, for example, one embodiment of oneor more of laptop computer 112, smartphone/tablet 114, and/or computer110 of system 100 of FIG. 1.

As shown in FIG. 3, network computer 300 includes a processor 302 thatmay be in communication with a memory 304 via a bus 306. In someembodiments, processor 302 may be comprised of one or more hardwareprocessors, or one or more processor cores. In some cases, one or moreof the one or more processors may be specialized processors designed toperform one or more specialized actions, such as, those describedherein. Network computer 300 also includes a power supply 308, networkinterface 310, processor-readable stationary storage device 312,processor-readable removable storage device 314, input/output interface316, GPS transceiver 318, display 320, keyboard 322, audio interface324, pointing device interface 326, and HSM 328. Power supply 308provides power to network computer 300.

Network interface 310 includes circuitry for coupling network computer300 to one or more networks, and is constructed for use with one or morecommunication protocols and technologies including, but not limited to,protocols and technologies that implement various portions of the OpenSystems Interconnection model (OSI model), global system for mobilecommunication (GSM), code division multiple access (CDMA), time divisionmultiple access (TDMA), user datagram protocol (UDP), transmissioncontrol protocol/Internet protocol (TCP/IP), Short Message Service(SMS), Multimedia Messaging Service (MMS), general packet radio service(GPRS), WAP, ultra wide band (UWB), IEEE 802.16 WorldwideInteroperability for Microwave Access (WiMax), Session InitiationProtocol/Real-time Transport Protocol (SIP/RTP), or various ones of avariety of other wired and wireless communication protocols. Networkinterface 310 is sometimes known as a transceiver, transceiving device,or network interface card (NIC). Network computer 300 may optionallycommunicate with a base station (not shown), or directly with anothercomputer.

Audio interface 324 is arranged to produce and receive audio signalssuch as the sound of a human voice. For example, audio interface 324 maybe coupled to a speaker and microphone (not shown) to enabletelecommunication with others and/or generate an audio acknowledgementfor some action. A microphone in audio interface 324 can also be usedfor input to or control of network computer 300, for example, usingvoice recognition.

Display 320 may be a liquid crystal display (LCD), gas plasma,electronic ink, light emitting diode (LED), Organic LED (OLED) orvarious other types of light reflective or light transmissive displaythat can be used with a computer. Display 320 may be a handheldprojector or pico projector capable of projecting an image on a wall orother object.

Network computer 300 may also comprise input/output interface 316 forcommunicating with external devices or computers not shown in FIG. 3.Input/output interface 316 can utilize one or more wired or wirelesscommunication technologies, such as USB™, Firewire™, Wi-Fi™ WiMax,Thunderbolt™, Infrared, Bluetooth™, Zigbee™, serial port, parallel port,and the like.

Also, input/output interface 316 may also include one or more sensorsfor determining geolocation information (e.g., GPS), monitoringelectrical power conditions (e.g., voltage sensors, current sensors,frequency sensors, and so on), monitoring weather (e.g., thermostats,barometers, anemometers, humidity detectors, precipitation scales, orthe like), or the like. Sensors may be one or more hardware sensors thatcollect and/or measure data that is external to network computer 300.Human interface components can be physically separate from networkcomputer 300, allowing for remote input and/or output to networkcomputer 300. For example, information routed as described here throughhuman interface components such as display 320 or keyboard 322 caninstead be routed through the network interface 310 to appropriate humaninterface components located elsewhere on the network. Human interfacecomponents include various components that allow the computer to takeinput from, or send output to, a human user of a computer. Accordingly,pointing devices such as mice, styluses, track balls, or the like, maycommunicate through pointing device interface 326 to receive user input.

GPS transceiver 318 can determine the physical coordinates of networkcomputer 300 on the surface of the Earth, which typically outputs alocation as latitude and longitude values. GPS transceiver 318 can alsoemploy other geo-positioning mechanisms, including, but not limited to,triangulation, assisted GPS (AGPS), Enhanced Observed Time Difference(E-OTD), Cell Identifier (CI), Service Area Identifier (SAI), EnhancedTiming Advance (ETA), Base Station Subsystem (BSS), or the like, tofurther determine the physical location of network computer 300 on thesurface of the Earth. It is understood that under different conditions,GPS transceiver 318 can determine a physical location for networkcomputer 300. In one or more embodiments, however, network computer 300may, through other components, provide other information that may beemployed to determine a physical location of the client computer,including for example, a Media Access Control (MAC) address, IP address,and the like.

Memory 304 may include Random Access Memory (RAM), Read-Only Memory(ROM), and/or other types of memory. Memory 304 illustrates an exampleof computer-readable storage media (devices) for storage of informationsuch as computer-readable instructions, data structures, program modulesor other data. Memory 304 stores a basic input/output system (BIOS) 330for controlling low-level operation of network computer 300. The memoryalso stores an operating system 332 for controlling the operation ofnetwork computer 300. It will be appreciated that this component mayinclude a general-purpose operating system such as a version of UNIX, orLINUX™, or a specialized operating system such as MicrosoftCorporation's Windows® operating system, or the Apple Corporation's IOS®operating system. The operating system may include, or interface with aJava virtual machine module that enables control of hardware componentsand/or operating system operations via Java application programs.Likewise, other runtime environments may be included.

Memory 304 may further include one or more data storage 334, which canbe utilized by network computer 300 to store, among other things,applications 336 and/or other data. For example, data storage 334 mayalso be employed to store information that describes variouscapabilities of network computer 300. In one or more of the variousembodiments, data storage 334 may store position information 335. Theposition information 335 may then be provided to another device orcomputer based on various ones of a variety of methods, including beingsent as part of a header during a communication, sent upon request, orthe like. Data storage 334 may also be employed to store socialnetworking information including address books, buddy lists, aliases,user profile information, or the like. Data storage 334 may furtherinclude program code, data, algorithms, and the like, for use by one ormore processors, such as processor 302 to execute and perform actionssuch as those actions described below. In one embodiment, at least someof data storage 334 might also be stored on another component of networkcomputer 300, including, but not limited to, non-transitory media insidenon-transitory processor-readable stationary storage device 312,processor-readable removable storage device 314, or various othercomputer-readable storage devices within network computer 300, or evenexternal to network computer 300.

Applications 336 may include computer executable instructions which, ifexecuted by network computer 300, transmit, receive, and/or otherwiseprocess messages (e.g., SMS, Multimedia Messaging Service (MMS), InstantMessage (IM), email, and/or other messages), audio, video, and enabletelecommunication with another user of another mobile computer. Otherexamples of application programs include calendars, search programs,email client applications, IM applications, SMS applications, Voice OverInternet Protocol (VOIP) applications, contact managers, task managers,transcoders, database programs, word processing programs, securityapplications, spreadsheet programs, games, search programs, and soforth. Applications 336 may include scanning mirror engine 344 orposition determination engine 346 that performs actions furtherdescribed below. In one or more of the various embodiments, one or moreof the applications may be implemented as modules and/or components ofanother application. Further, in one or more of the various embodiments,applications may be implemented as operating system extensions, modules,plugins, or the like.

Furthermore, in one or more of the various embodiments, positiondetermination engine 346 may be operative in a cloud-based computingenvironment. In one or more of the various embodiments, theseapplications, and others, may be executing within virtual machinesand/or virtual servers that may be managed in a cloud-based basedcomputing environment. In one or more of the various embodiments, inthis context the applications may flow from one physical networkcomputer within the cloud-based environment to another depending onperformance and scaling considerations automatically managed by thecloud computing environment. Likewise, in one or more of the variousembodiments, virtual machines and/or virtual servers dedicated toscanning mirror engine 344 or position determination engine 346 may beprovisioned and de-commissioned automatically.

Also, in one or more of the various embodiments, scanning mirror engine344 or position determination engine 346 or the like may be located invirtual servers running in a cloud-based computing environment ratherthan being tied to one or more specific physical network computers.

Further, network computer 300 may comprise HSM 328 for providingadditional tamper resistant safeguards for generating, storing and/orusing security/cryptographic information such as, keys, digitalcertificates, passwords, passphrases, two-factor authenticationinformation, or the like. In some embodiments, hardware security modulemay be employed to support one or more standard public keyinfrastructures (PKI), and may be employed to generate, manage, and/orstore keys pairs, or the like. In some embodiments, HSM 328 may be astand-alone network computer, in other cases, HSM 328 may be arranged asa hardware card that may be installed in a network computer.

Additionally, in one or more embodiments (not shown in the figures), thenetwork computer may include one or more embedded logic hardware devicesinstead of one or more CPUs, such as, an Application Specific IntegratedCircuits (ASICs), Field Programmable Gate Arrays (FPGAs), ProgrammableArray Logics (PALs), or the like, or combination thereof. The embeddedlogic hardware devices may directly execute embedded logic to performactions. Also, in one or more embodiments (not shown in the figures),the network computer may include one or more hardware microcontrollersinstead of a CPU. In one or more embodiments, the one or moremicrocontrollers may directly execute their own embedded logic toperform actions and access their own internal memory and their ownexternal Input and Output Interfaces (e.g., hardware pins and/orwireless transceivers) to perform actions, such as System On a Chip(SOC), or the like.

Illustrative Devices and Systems

Scanning mirrors have a multitude of uses including, but not limited to,scanning laser vision, motion tracking LIDAR, illumination, and imagingtype display systems for AR and VR, such as described in U.S. Pat. Nos.8,282,222; 8,430,512; 8,573,783; 8,696,141; 8,711,370; 8,971,568;9,377,553; 9,501,175; 9,581,883; 9,753,126; 9,810,913; 9,813,673;9,946,076; U.S. Patent Application Publication Nos. 2013/0300637 and2016/0041266; U.S. Provisional Patent Application Ser. Nos. 62/498,534;62/606,879; 62/707,194; and 62/709,715 and U.S. patent application Ser.No. 15/853,783. each of which is herein incorporated by reference in theentirety.

The devices and systems can employ high speed MEMS scanning mirrorsystems. In many applications the speed and other specific motioncharacteristics of the scan system facilitate precisely rendering,detecting or tracking finely detailed contrast functions (for example,strings of 3D pixels) and voxels (for example, 3D positions) in thefield of view.

Often resonant scan mirrors are used, as they deliver high speedscoupled with reasonable scan angles and use relatively low energy. Thepresent disclosure describes innovations that apply to such resonantsystems and can significantly improve them. Innovations described in thepresent disclosure can also apply to non-resonant MEMS scanning mirrorsor other non-MEMS type scanning systems (e.g. so-called Galvo orPolygonal scanning systems and the like), or even non-mechanicalsystems, or “solid state” scanning systems such Optical Phased arrays oraccousto-optical and electro-optical scanning systems).

FIG. 4A is a block diagram of components of a scanning mirrorarrangement including the mirror 405 and the drive mechanism or actuator407 that drives the rotation of the mirror about an axis, as illustratedin FIG. 4B where the mirror 405 is illustrated as rotated at two extremepositions 405 a, 405 b. In FIG. 4A, the mirror 405 is rotated to amidway position between the two extreme positions and defines a centeraxis 409 perpendicular to the surface of the mirror. In at least someembodiments, the mirror 405 is configured to rotate up to ±60, ±50, ±40,±30, ±20, ±10 degrees relative to the midway position illustrated inFIG. 4A, although larger or smaller rotations can also be used. Althoughthe mirror 405 in the embodiment illustrated in FIG. 4B rotates byequal, but opposite, amounts to reach the two extreme positions 405 a,405 b, in other embodiments, the two extreme positions may involveunequal rotation (e.g., a different amount of rotation in degrees) inthe two opposing direction. Other examples of scanning mirrorarrangements are presented in FIGS. 9A and 9B and discussed below.

As an example of a conventional scanning mirror, a 25 kHz resonantmirror with a diameter of around 1 mm can draw two lines in each 40microsecond scan period, delivering 50,000 scan lines per second. Ifdrawing an image at 100 frames per second, it would at most be able toscan 500 lines across each frame.

For high resolution imaging systems, there are several mirror designparameters that can be challenging to manage or optimize. First, a highline resonance frequency keeps the resonant mirror small and with arelative low resonant mass. The scanning system further utilizes a stiffspring in the hinges, which acts as a dampener on the mirrors'deflection angle, typically resulting in a small scan angle and a smallangular scan range.

Second, a wide scan field (for a wide field of view (FoV)) is oftendesirable, but due to the inherent dynamics of a conventional resonantMEMS mirror design, this typically results in slower scan speeds (by,for example, increasing the mass or reducing the stiffness of the springtype hinges holding the mirror).

Third, a mirror surface with high quality optical characteristics isdesirable for achieving good beam quality and for achieving a relativehigh resolution laser point with a small, sharp laser beam “tip” (i.e.,the smallest resolved voxel spot illumination). In some systems toachieve a good depth of field, a very flat, stiff and relatively largemirror surface is needed to be able to maintain a relatively high degreeof collimation of the laser beam. At higher resonance frequencies thestresses on the mirror are significantly greater, and mirror stiffnessbecomes particularly important. Stiffness requires more structuralstrength in the mirror body structure, and typically makes the mirrorheavier. For example, a 2 mm, 2× larger mirror results in significantlybetter collimation and far field spot size as compared to a faster 1 mmmirror. Such a larger mirror may have eight times larger mass, whichmight reduce the resonance frequency by more than half (e.g., the squareroot of 8). Some modern high speed MEMS mirror designs use honeycombstructures to achieve a maximum stiffness at minimal mass for a givenmirror size. For good, long range beam quality useful for automotiveLIDAR systems the desired stiffness and size of the mirror surfacetypically results in larger surfaces with robust backing structureswhich limit the resonant frequency to below 5 kHz.

Fourth, uniform illumination scan coverage is desirable in many suchsystems, either to achieve acceptable image brightness and uniformityacross a broad field of view or to guarantee that sufficientillumination is applied to every point in the field of view of a machinevision system. Lack of illumination brightness and uniformity ofillumination across a wide scan range would reduce the range and FoVwidth respectively of such scanned interrogation beam systems.

These four design parameters are often in starkly opposite directions,and in many conventional designs significant trade-offs are made betweenthe design parameters which may limit system performance parameters sucha resolution, range, and voxel acquisition rate.

In at least some embodiments, a device or system includes slowing downand increasing dwell time where it counts. One features of resonantmirrors is that their rotational speed is fundamentally sinusoidal, asillustrated in FIG. 4C. A resonant system is an energy conservingsystem: at mid-point of the scan mirror rotation the system is at peakvelocity and at peak kinetic energy, while at the extremes of mirrormotion a resonant mirror slows down to a full stop, all of the kineticenergy being transformed into mechanical energy instantiated as thespring force in the hinges of the mirror. The extreme positions areoften not utilized at all. For many image rendering applications, thefield of projection is “cropped” so that the most extreme positions arenot actually used in the scan illumination pattern.

As an example, the optical scan width of a mirror whose axis is rotatingmechanically +/−10 degrees (a mechanical scan range of 20 degrees) willswing a beam at twice that range up to +/−20 degrees (a total of 40degrees). The actual use of this range might be only 30 degrees, toavoid the slow-moving extremes. If this mirror is used in an applicationwhere the beam must deliver a certain amount of illumination (forexample, a certain intensity of laser beam energy per solid angle in theFoV) then the non-uniform motion of resonant mirrors limits theintensity in the center of projection, as the dwell time per unit areaor per degree of FoV is the lowest where the rotation is the fastest. Inthe above example, illustrated in FIGS. 4C and 4D, the mirror swings thebeam across 40 degrees during a period of 20 microseconds, but it spendsonly a third of its time, only 6.7 microseconds, in the middle 20degrees of the field of view and another 6.7 microseconds on each 10degrees left and right of that.

FIG. 4C illustrates the sinusoidal motion of the angle deflection. FIG.4D illustrates a phase rotation diagram, a unit circle where thevertical axis shows the angular optical displacement of the scanningbeam reflected by a resonant mirror. Optical displacement is twice themagnitude in degrees of the motion of the mirror itself. In FIG. 4D, theresonant oscillations of the mirror oscillate the beam between extremesof −20 degrees and +20 degrees, a total resonant swing back and forth of40 degrees optical bean displacement. For the mirror to affect the full40 degrees swing from −20 degrees to +20 degrees would take half thefull 360 degrees (i.e., 180 degrees of phase of the full phase cycle ofthe resonant mirror) or in the case of 25 kHz mirror 20 microseconds.But with only the middle phase progression of 60 degrees of phase, inone third of the time (6.7 microseconds) the mirror rotates the beam by20 degrees. The total oscillation period is 40 microseconds (i.e., theperiod a 25 kHz mirror) and a full cycle is 360 phase degrees.

An implication is that, when using a resonant type scan mirror, toachieve uniform brightness across the FoV the laser beam may need to beilluminated full brightness at the center, delivering enough energy permicrosecond at the peak scan speed there, but outside the center thelaser would be dimmed considerably for areas towards the edges of theFoV. So, a laser with greater peak brightness is useful to assure asufficient range in the center of projection.

Since the peak brightness of the beam might be set by limitations of thelaser or by safety regulations, some part of the system potential outputis wasted because for example, the brightness is reduced markedly in theprojection center. In the case of, for example, automotive illuminationsystems this might be just the opposite of what is desired: namely,higher brightness in the center.

To achieve a longer dwell time at the center it is possible to use themirrors' slow extremes to illuminate the center. One solution is to usetwo beams that reflect on the same mirror but arranged so that the beamsare crossed on the mirror, as illustrated, for example, in FIG. 5 (whereonly the outcoming beams are illustrated). Alternatively, one beam orone laser source may be split into two halves by optical means (forexample, using a beamsplitter) and each half redirected along twoseparate incoming paths towards the scan mirror.

In FIG. 5, two laser beams 550, 552 reflect off the same scan mirrorsurface 554 with a 20 degree spread between them, as illustrated in (a).Rotating the mirror half of the angle (i.e., mechanically back and forth5 degrees) the two beams both will rotate 10 degrees back and forth, asillustrated in (b) and (c). Beam 552 will swing from 20 degrees to thecenter while beam 550 swings from the center to −20 degrees. Since thetwo extreme mirror positions have the longest dwell time, in each casethe maximum “exposure” is covered by one of the beams. In addition, thebeams 550, 552 each cover half of the FoV.

With two beams arranged this way, the mirror angular motion can bereduced by half and consequently it would be possible to increase thescan frequency significantly or increase the mirror size, the beamquality, or the FOV significantly. If the scan coverage is increased,the detection latency can be lowered and blind spots removed faster.

Three or more beams, from light sources 404, may also be used cross overon a mirror 405, as illustrated in FIGS. 7A and 7B, to further increasethe scan coverage and to increase light power, but to distribute it in away that complies fully with safety regulations. Each of the beams maybe limited to, for example, 100 mW intensity, but three such beams canbe arranged to not ever point in the same directions, yet each might atsome part of the scan rotation dwell in the center providing maximumillumination coverage in that area. This may work well as a modificationfor a fast biaxial Lissajous scan using two resonant mirrors in a relaysuch as those described in U.S. Pat. Nos. 8,711,370; 9,377,533;9,753,126; and 9,946,076, all of which are incorporated herein byreference in their entireties. Also, as illustrated in FIGS. 7A and 7B,the light sources 404 do not need to be in the same plane.

In the case of a trifocal architecture, such as described in U.S.Provisional Patent Applications Ser. Nos. 62/498,534 and 62/606,879 andU.S. patent application Ser. No. 15/853,783, all of which areincorporated herein by reference in their entireties, it might bedesirable to have four simultaneous points, using four light sources 404or light beams as illustrated in FIG. 7B, in the FoV. This arrangementof four light sources may be particularly useful with the three receiver(e.g., camera) arrangement of FIG. 8 with three cameras 106 a, 160 b,106 c where the four light beams from the four light sources 404 (FIG.7B) reflect from the mirror 405 (FIG. 7B) and simultaneously illuminatesfour points P₁, P₂, P₃ and P₄. The four points on the 3D surface reflecta portion of the beam towards three cameras positioned with cameraprojection centers O₁, O₂ & O₃. From each point P there is one chief rayto each of these camera centers. There are twelve such chief rays. Thesechief rays project onto the cameras in twelve pixel locations: P₁′, P₂′,P₃′, P₄′, P₁″, P₂″, P₃″, P₄″, P₁′″, P₂′″, P₃′″ & P₄′″. These twelvediscrete positions captured by three cameras are sufficient to derivethe full positions of the camera centers and the four 3D points P₁, P₂,P₃ and P₄. As an example, these twelve sensor coordinates pairs aresufficient to derive a full trifocal tensor's 27 elements (a 3×3×3matrix.) This is modification of the arrangement presented in U.S.patent application Ser. No. 15/853,783, which is incorporated herein byreference in its entirety. In at least some embodiments, each of thereceivers 106 a, 160 b, 106 c (e.g., cameras) can be instantlycalibrated in six degrees of freedom (this would enable very flexiblecamera mounts and eliminate or reduce body rigidity requirements).

In at least some embodiments, by arranging some of the beams at greaterdegrees, eccentric, wide and narrow scans could be selectedelectronically and instantly without any mechanical or opticaladjustments. In FIG. 6, the beams 660, 662 are 20 degrees offset eachfrom the central projection axis 664. As can be seen: a +/−10 degreemirror movement creates a full +/−40 degree coverage.

By arranging a plurality of beams with deliberately offset angles andhave them cross over onto the same fast scanning mirror, the total scanwidth and dwell time can be increased and the angular instantaneous scanvelocity can be decreased in certain parts of the scan field. Some partsof the multiple beams scan ranges can be further overlapped to increasethe scan frequency and coverage in one or more foveated area(s).

In at least some embodiments, each of the multiple (for example, two,three, four, or more) light beams can cover at least 10, 20, 25, 30, or40 degrees or more as the mirror rotates between positions. In at leastsome embodiments, the multiple light beams are arranged to coverdifferent portions of the FoV without overlapping or with overlapping.For arrangements with more than two light beams, the light beams can bespaced apart uniformly or non-uniformly.

In at least some embodiments, each of the light beams is spaced fromeach of the other light beams by at least 5, 10, 15, 20 or more degreesrelative to the mirror. In at least some embodiments, at least two ofthe light beams, when the mirror is in the midway position, asillustrated in FIG. 4A, are on opposite sides of the center axis 409.

FIG. 10 is a flowchart of one method of scanning a field of view. Instep 1002, the mirror is simultaneously illuminated with at least twolight beams (for example, two, three, four, or more light beams) asdescribed above. In step 1004, the mirror is rotated (for example,rotated between two extreme positions) to scan the field of view. Thefield of view can be, for example, 10, 20, 30, 40, 50, 60, 80, 100, 120degrees or more.

In pixel sequential imaging systems, such as those described in thereferences cited above and embodiments of the systems illustrated inFIGS. 1 and 8, it is often desirable that the optical scan width isrelatively large, and consequently the deflection angle of the mirrorsystem well be larger than is optimal for other considerations andsignificant tradeoffs need to be made. To configure a high-resonancefrequency system with a large scan angle can be particularlychallenging. One reason is that for scan force actuation mechanisms,such as electrostatic comb drivers, the maximum achievable scan angleoften is a limiting factor. Comb-type actuators typically have a limitedrange (e.g., depth of blades) beyond which they cannot create anelectrostatic force. Simple plate electrostatic drives and or piezoactuators are often preferred and much more robust as long as theactuation range or “stroke” can be held as small as possible (“stroke”refers to the distance—in opposing plate type—or rotational movement ina torsion hinge type of that one part of the electromechanical actuatorthat moves with respect to the other part).

Some systems that do accommodate a larger range of motion are bulkier,or more difficult to assemble such as, for example, those that employinductive magnetic field forces, by including permanent magnets in theassembly of the scanner or inductive loops and connections in the mirroritself (adding bulk and mass, consequently slowing down the mirror)

A pseudo-random scan system does not require precise control of the beamposition. Control of the beam is of less importance than speed and scanrange. In pseudo random systems such as those described in thereferences cited above and embodiments of the systems illustrated inFIGS. 1 and 8, the system's accuracy is not relying on controlling themirror's instantaneous position, but rather on observing the beamdirectly in the FoV. For example, in a trifocal 3D motion trackingsystem such as that illustrated in FIG. 8 or described in U.S. patentapplication Ser. No. 15/853,783, it is only required that fine-tippedbeams scan pseudo-randomly in as many as possible scan arcs or scanlines across a region of interest within a short time period. The lowlatency nanosecond precise observational accuracy of 3 “twitchy pixel“sensors or SPAD arrays more than make up for the mirror's wild anduncontrolled motion.

FIG. 11 is a flowchart of one method of determining a position of one ormore objects. In step 1102, the mirror is simultaneously illuminatedwith at least two light beams (for example, two, three, four, or morelight beams) as described above. In step 1104, the mirror is rotated(for example, rotated between two extreme positions) to scan the fieldof view. The light beams reflected by the mirror will illuminate regionsof one or more objects in the field of view. The field of view can be,for example, 10, 20, 30, 40, 50, 60, 80, 100, 120 degrees or more. Instep 1106, photons from the light beams, which are reflected by regionsof the one or more objects, are then received at receivers, for example,cameras or arrays of photo-sensitive pixels or the like. In step 1108,the received photons are used to determine the position of the regionsof the one or more objects. For example, any of the methods and systemsdescribed in U.S. Pat. Nos. 8,282,222; 8,430,512; 8,573,783; 8,696,141;8,711,370; 9,377,553; 9,753,126; 9,946,076; U.S. Patent ApplicationPublication Nos. 2013/0300637 and 2016/0041266; U.S. Provisional PatentApplications Ser. Nos. 62/498,534 and 62/606,879; and U.S. patentapplication Ser. No. 15/853,783 can be modified as described herein tofacilitate determination of the position or other features of objects inthe field of view.

Turning to FIGS. 9A and 9B, a scan mirror has four fundamental elements:the mirror 940, a drive mechanism (or actuator) 942 that creates adriving force, a hinge 944 that allows for rotational motion 950 of themirror, and a mounting bracket 946 that holds the assembly in place.FIG. 9A illustrates one conventional scan mirror assembly in aconceptual drawing (not to scale). The bracket 946 holds the hinge 944which provides the axis of rotation along which the mirror 940 rotates.The drive mechanism 942 is attached to the mirror 940 and impartsrotational forces in some fashion directly to the mirror. In aconventional scan mirror 940 the hinge 944 acts as a torsional springthat produces rotational forces that drive the mirror back to itscentral position. The hinge 944 is between the bracket 946 and the drivemechanism 942.

FIG. 9B illustrates a new arrangement where the drive mechanism 942 ismounted directly on the bracket 946 and rotates the hinge 944. In thismanner, the springy hinge 944 is inserted between the drive mechanism942 and the mirror 940. This produces a much greater degree ofrotational motion 950′ for the mirror 940 than would be imparted by therotational motion of the drive mechanism 942. A small amplituderotational twist of the drive mechanism can impart more than sufficientenergy in a well-designed resonant system to create large angular mirrormotions at resonance. For example, the drive mechanism 942 (such as apiezo or electrostatic MEMS force actuator) may only twist the hinge 944by +/−1 degree and yet the hinge may swing the mirror 940 swing by +/−10degrees, achieving an optical deflection of 40 degrees (the opticaldeflection is twice the mechanical deflection).

In at least some embodiments, a scanning mirror arrangement or systemcan have a maximum scan range of 60 to 120 degrees. In at least someembodiments, a scanning mirror arrangement or system can havesubstantial uniformity of illumination with multiple slow scan foveationspots. In at least some embodiments, a scanning mirror arrangement orsystem can have a simple, compact and robust integral hinge and actuatordesign. In at least some embodiments, a scanning mirror arrangement orsystem can have good high frequency scan coverage (with overlaps for ahigh number of scan lines/second. In at least some embodiments, ascanning mirror arrangement or system can have good beam quality. Atleast some scanning mirror arrangements or systems can have anycombination of these features or advantages.

FIGS. 12A to 14C illustrate arrangements to create a wide scan range byarranging a plurality of light sources converging from differentdirections onto a shared scanning mirror. In FIGS. 12A and 12B, in anarrangement similar to the one depicted in FIG. 6 above, two laser beamsconverge from light sources 1204 onto a single scan mirror 1205. Thescan mirror 1205 redirects and partially diffuses the laser beams intostill fairly narrowly focused scanning spot lights. The diffusion may beeffected by, for example, a diffusive structure deposited of the mirroritself or a diffuser may be part of the illumination source collimationoptics, or the diffusion may be caused by the laser beams scatteringonto a phosphor-like fluorescent material or using any other suitablediffusion technique. In FIG. 12A, the scan mirror 1204 is angled at oneof its extremes, tilting at, for example, +10 degrees to the left,adding, in this example, an additional +20 degrees leftwards deflectionto one of beams, beam 1260 and, at the same moment, directing the otherbeam 1262 straight ahead, towards the center of the FoV. In FIG. 12B,the mirror 1205 is tilted in the opposite extreme position of, forexample, rightward −10 degrees, and the beam 1262 which was previouslydirected straight ahead, is now rotated −40 degrees to the extremeright. This illustrative example shows that with just a +/−10 degreesmotion a low-power simple resonant mirror, can scan rapidly and achievestrong scene illumination across a wide range of angles. This embodimentof a system reaches a full width FoV angle of 80 degrees, four times themechanical range of mirror itself. Yet, this same system is equallycapable of illuminating the center of the FoV, with long exposures (dueto an oscillating mirror's natural long dwell times at the mirror'srotational extreme positions) because of the particular arrangement ofthe light sources 1204. In this exemplary arrangement with convergingdual beams, a slowly moving, diffuse light beam moves slowly across thecenter of the field of view twice during the same cycle: First, lightbeam 1262 in FIG. 12A and then light beam 1260 in FIG. 12B.

FIGS. 13A to 13C illustrate a device, such as a small delivery robotvehicle (for example, a scooter-like arrangement employing a singlescanning headlight). The system may choose (a) to alternatively powerits dual laser sources selectively, in synchrony with the mirrorsextreme positions, to focus the spot light on the road ahead(“look-ahead”) when moving at high speed, and creating an ample range ofillumination for its robot vision system as illustrated in FIG. 13A, oralternatively, (b) when approaching an intersection check for traffic(“V”) coming from the right as illustrated in FIG. 13B, and/oralternatively, (c) check for oncoming traffic before making a left orright turn (“look-aside”) as illustrated in FIG. 13C.

FIGS. 14A to 14C illustrate an embodiment of a vehicle with dual headlight assemblies. In the case of scanning head lights these “look-aside”(FIG. 14A) or “look-ahead” (FIGS. 14B and 14C) options may beautomatically selected by, for example, an ADAS (AdvancedDriver-Assistance System) vision system. One advantage of having theoption to strongly illuminate side views is that it enables very shortexposure/illumination strobes, limiting or minimizing motion blur in theside view cameras images and enabling a greater accuracy in motionestimation, which is useful for collision avoidance. Even when thevehicle is not slowing down or stopped at an intersection, but moving atgreat speed, such sideways directed short but powerful illuminationstrobes help mitigate the motion blur that would otherwise occur inimages produced by sideways looking cameras as part of a collisionavoidance system due to the optical flow in such sideways lookingcameras (i.e., the motion blur caused by the vehicle's ego-motion). Forexample, removing this ego motion blur from the edges of objectsilluminated by the short but powerful strobes may greatly help toaccurately detect, for example, the heading, velocity, and accelerationof a pedestrian on path adjacent to the vehicle.

Similarly, the long natural dwell times for the beams in the centerforward position enable ample illumination of these center of FoVpositions, thus these head lights will reach farther ahead with forwardlooking ADAS cameras, all while complying with eye safety requirements.Moreover, when the forward directed beam is narrow enough to illuminatejust a “slice” (subfield) of the FoV at the time, then columns or fieldsof pixels may be turned on and off selectively (e.g. by a rollingshutter synchronized with the beam “slice” scrolling location). In FIG.14A, a self-driving vehicle is checking for cross traffic prior tocrossing an intersection. In FIG. 14B, a vehicle's dual flashing headlights slightly converge and illuminate its planned trajectory in itsown lane immediately ahead.

As illustrated in FIG. 14C, the vehicle can benefit in creating a “crossfire “of illumination, which in the case of a dense fog with carefullysynchronized left and right alternating flashes may mitigate theblinding of the forward left and right side cameras due to backscatterfrom the illumination sources. This back scatter may be particularlystrong in the direction of the beam itself as small water droplets inthick fog and rain tend to a retro-reflect the beam's light.(Retro-reflection is also known as “cat eye” reflection.) The left lightis synchronized with the right camera frame exposure and visa-versa. InFIG. 14C, the left head light transmits (T) its strobe of light. Due tothe retro-reflective back reflection of fog water droplets, the leftcamera may be blinded by the strong near field reflections in a groundfog. However, some of the light transmitted by the left head light (T)will reach the object in fog and the receiver camera (R) on the rightside will be able to see the object, because at that moment the rightside illuminator is off and thus it is not blinded by backscatteredlight. By alternating the left light/right camera and right light/leftcamera with enough light the object in the fog can be detected. This isan example of synchronous cross-field alternating cross-fire stereo foglights.

It will be understood that each block of the flowchart illustrations,and combinations of blocks in the flowchart illustrations, (or actionsexplained above with regard to one or more systems or combinations ofsystems) can be implemented by computer program instructions. Theseprogram instructions may be provided to a processor to produce amachine, such that the instructions, which execute on the processor,create means for implementing the actions specified in the flowchartblock or blocks. The computer program instructions may be executed by aprocessor to cause a series of operational steps to be performed by theprocessor to produce a computer-implemented process such that theinstructions, which execute on the processor to provide steps forimplementing the actions specified in the flowchart block or blocks. Thecomputer program instructions may also cause at least some of theoperational steps shown in the blocks of the flowcharts to be performedin parallel. Moreover, some of the steps may also be performed acrossmore than one processor, such as might arise in a multi-processorcomputer system. In addition, one or more blocks or combinations ofblocks in the flowchart illustration may also be performed concurrentlywith other blocks or combinations of blocks, or even in a differentsequence than illustrated without departing from the scope or spirit ofthe invention.

Additionally, in one or more steps or blocks, may be implemented usingembedded logic hardware, such as, an Application Specific IntegratedCircuit (ASIC), Field Programmable Gate Array (FPGA), Programmable ArrayLogic (PAL), or the like, or combination thereof, instead of a computerprogram. The embedded logic hardware may directly execute embedded logicto perform actions some or all of the actions in the one or more stepsor blocks. Also, in one or more embodiments (not shown in the figures),some or all of the actions of one or more of the steps or blocks may beperformed by a hardware microcontroller instead of a CPU. In one or moreembodiment, the microcontroller may directly execute its own embeddedlogic to perform actions and access its own internal memory and its ownexternal Input and Output Interfaces (e.g., hardware pins and/orwireless transceivers) to perform actions, such as System On a Chip(SOC), or the like.

The above specification, examples, and data provide a completedescription of the manufacture and use of the composition of theinvention. Since many embodiments of the invention can be made withoutdeparting from the spirit and scope of the invention, the inventionresides in the claims hereinafter appended.

1. A system to illuminate a field of view (FOV) for a vehicle,comprising: a first light source and a second light source that areadapted for attachment to the vehicle, wherein a first light source isarranged on a first side of the vehicle and the second light source isarranged on a second side of the vehicle, wherein the first light sourceemits a first light beam that illuminates the FOV in a direction oftravel of the vehicle, and wherein the second light source emits asecond light beam that also illuminates the FOV in the vehicle'sdirection of travel; a first camera that is arranged on the first sideand a second camera that is arranged on the second side, wherein thefirst camera is arranged to detect reflection of the first light beam inthe FOV of the vehicle's direction of travel and the second camera isarranged to detect reflection of the second light beam in the FOV of thevehicle's direction of travel; and in response to the first camera orthe second camera detecting one or more retroreflective reflections ofthe corresponding first or second light beams in the FOV of thevehicle's direction of travel, the first light source and the secondlight source are arranged to emit pulses of the first light beam and thesecond light beam, wherein the pulses of the first and second lightbeams are arranged to reduce an amount of the one or moreretroreflective reflections detected by the first camera and the secondcamera.
 2. The system of claim 1, wherein the one or moreretroreflective reflections, further comprise retroreflective reflectionof the first or second light beams from one or more atmosphericconditions in the illuminated FOV in the vehicle's direction of travel,wherein the one or more atmospheric conditions include snow, rain, hail,sleet, fog, dust, smoke, or air pollution.
 3. The system of claim 1,wherein the pulses of the first and second light beams, further compriseemitting the pulses of first light beam and the second light beam 180degrees out of phase to each other.
 4. The system of claim 1, whereinthe arrangement of the first light source and the first camera on thefirst side and the arrangement of the second light source and the secondcamera on the second side, further comprises: attaching the first lightsource on or towards a left side of a front side or a top side of thevehicle; attaching the first camera on or towards the left side of thevehicle's front side or top side; attaching the second light source onor towards a right side of the vehicle's front side or top side; andattaching the second camera on or towards the right side of thevehicle's front side or top side.
 5. The system of claim 1, wherein thefirst side and the second side, further comprise arrangement on thevehicle that is either parallel or perpendicular to each other:
 6. Thesystem of claim 1, further comprising: a third light source arranged onone of the first side or the second side of the vehicle; a third cameraarranged on the one of the first side or the second side of the vehicle;and in response to the first camera, the second camera, and the thirdcamera detecting one or more reflections of the corresponding first,second, or third light beams in the FOV of the vehicle's direction oftravel, providing trifocal three dimensional (3D) motion tracking of oneor more objects in the FOV of the vehicle's direction of travel.
 7. Thesystem of claim 1, further comprising: a first scanning mirrorarrangement and a second scanning mirror arrangement, wherein the firstand second light sources are arranged to direct the first light beam andthe second light beam at each mirror of each scanning mirrorarrangement, wherein a direction of the first light beam toward eachmirror differs from another direction of the second light beam towardeach mirror, wherein the first and the second light beams are arrangedto separately scan the FOV in the vehicle's direction of travel.
 8. Amethod to illuminate a field of view (FOV) for a vehicle, comprising:employing a first light source and a second light source to illuminatethe FOV in a direction of travel of the vehicle, wherein a first lightsource is arranged on a first side of the vehicle and the second lightsource is arranged on a second side of the vehicle, wherein the firstlight source emits a first light beam that illuminates the FOV in thevehicle's direction of travel, and wherein the second light source emitsa second light beam that also illuminates the FOV in the vehicle'sdirection of travel; employing a first camera that is arranged on thefirst side and a second camera that is arranged on the second side todetect reflection of the first light beam in the FOV of the vehicle'sdirection of travel and the second light beam in the FOV of thevehicle's direction of travel; and in response to the first camera orthe second camera detecting one or more retroreflective reflections ofthe corresponding first or second light beams in the FOV of thevehicle's direction of travel, the first light source and the secondlight source are arranged to emit pulses of the first light beam and thesecond light beam, wherein the pulses of the first and second lightbeams are arranged to reduce an amount of the one or moreretroreflective reflections detected by the first camera and the secondcamera.
 9. The method of claim 8, wherein the one or moreretroreflective reflections, further comprise retroreflective reflectionof the first or second light beams from one or more atmosphericconditions in the illuminated FOV in the vehicle's direction of travel,wherein the one or more atmospheric conditions include snow, rain, hail,sleet, fog, dust, smoke, or air pollution.
 10. The method of claim 8,wherein the pulses of the first and second light beams, further compriseemitting the pulses of first light beam and the second light beam 180degrees out of phase to each other.
 11. The method of claim 8, furthercomprising: providing a third light source arranged on one of the firstside or the second side of the vehicle; providing a third cameraarranged on the one of the first side or the second side of the vehicle;and in response to the first camera, the second camera, and the thirdcamera detecting one or more reflections of the corresponding first,second, or third light beams in the FOV of the vehicle's direction oftravel, providing trifocal three dimensional (3D) motion tracking of oneor more objects in the FOV of the vehicle's direction of travel.
 12. Themethod of claim 8, further comprising: providing a first scanning mirrorarrangement and a second scanning mirror arrangement, wherein the firstand second light sources are arranged to direct the first light beam andthe second light beam at each mirror of each scanning mirrorarrangement, wherein a direction of the first light beam toward eachmirror differs from another direction of the second light beam towardeach mirror, wherein the first and the second light beams are arrangedto separately scan the FOV in the vehicle's direction of travel.
 13. Themethod of claim 8, wherein the arrangement of the first light source andthe first camera on the first side and the arrangement of the secondlight source and the second camera on the second side, furthercomprises: providing attachment of the first light source on or towardsa left side of a front side or a top side of the vehicle; providingattachment of the first camera on or towards the left side of thevehicle's front side or top side; providing attachment of the secondlight source on or towards a right side of the vehicle's front side orfront side; and providing attachment of the second camera on or towardsthe right side of the vehicle's front side or top side.
 14. The methodof claim 8, wherein the first side and the second side, further comprisearrangement on the vehicle that is either parallel or perpendicular toeach other:
 15. A processor readable non-transitory computer readablemedia that includes instructions, wherein execution of the instructionsby one or more processors enables a plurality of actions that providefor illumination of a field of view (FOV) for a vehicle, wherein theplurality of actions, comprise: employing a first light source and asecond light source to illuminate the FOV in a direction of travel ofthe vehicle, wherein a first light source is arranged on a first side ofthe vehicle and the second light source is arranged on a second side ofthe vehicle, wherein the first light source emits a first light beamthat illuminates the FOV in the vehicle's direction of travel, andwherein the second light source emits a second light beam that alsoilluminates the FOV in the vehicle's direction of travel; employing afirst camera that is arranged on the first side and a second camera thatis arranged on the second side to detect reflection of the first lightbeam in the FOV of the vehicle's direction of travel and the secondlight beam in the FOV of the vehicle's direction of travel; and inresponse to the first camera or the second camera detecting one or moreretroreflective reflections of the corresponding first or second lightbeams in the FOV of the vehicle's direction of travel, the first lightsource and the second light source are arranged to emit pulses of thefirst light beam and the second light beam, wherein the pulses of thefirst and second light beams are arranged to reduce an amount of the oneor more retroreflective reflections detected by the first camera and thesecond camera.
 16. The processor readable non-transitory computerreadable media of claim 15, wherein the one or more retroreflectivereflections, further comprise retroreflective reflection of the first orsecond light beams from one or more atmospheric conditions in theilluminated FOV in the vehicle's direction of travel, wherein the one ormore atmospheric conditions include snow, rain, hail, sleet, fog, dust,smoke, or air pollution.
 17. The processor readable non-transitorycomputer readable media of claim 15, wherein the pulses of the first andsecond light beams, further comprise emitting the pulses of first lightbeam and the second light beam 180 degrees out of phase to each other.18. The processor readable non-transitory computer readable media ofclaim 15, further comprising: providing a third light source arranged onone of the first side or the second side of the vehicle; providing athird camera arranged on the one of the first side or the second side ofthe vehicle; and in response to the first camera, the second camera, andthe third camera detecting one or more reflections of the correspondingfirst, second, or third light beams in the FOV of the vehicle'sdirection of travel, providing trifocal three dimensional (3D) motiontracking of one or more objects in the FOV of the vehicle's direction oftravel.
 19. The processor readable non-transitory computer readablemedia of claim 15, providing a first scanning mirror arrangement and asecond scanning mirror arrangement, wherein the first and second lightsources are arranged to direct the first light beam and the second lightbeam at each mirror of each scanning mirror arrangement, wherein adirection of the first light beam toward each mirror differs fromanother direction of the second light beam toward each mirror, whereinthe first and the second light beams are arranged to separately scan theFOV in the vehicle's direction of travel.
 20. The processor readablenon-transitory computer readable media of claim 15, wherein thearrangement of the first light source and the first camera on the firstside and the arrangement of the second light source and the secondcamera on the second side, further comprises: providing attachment ofthe first light source on or towards a left side of a front side or atop side of the vehicle; providing attachment of the first camera on ortowards the left side of the vehicle's front side or top side; providingattachment of the second light source on or towards a right side of thevehicle's front side or top side; and providing attachment of the secondcamera on or towards the right side of the vehicle's front side or topside.